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AssigneeSchaeffler Technologies AG & Co. KG
InventorKazuaki Kaneko
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The invention relates to a method for the detection of ratcheting during operation of a robot, in particular a collaborative robot, in relation to at least one joint of the robot, in particular of the collaborative robot, on the basis of operating data of the robot by means of artificial intelligence comprising the following steps: providing of operating data, in particular current flow data, in relation to a time behaviour of a motor, in particular a servomotor, of a robot; detecting of ratcheting of a joint of the robot, in particular in the case of a strain wave gear mechanism, a harmonic drive and/or ellipto-centric gear mechanism, by evaluation of the operating data as indirect or direct input data for an artificial intelligence system yielding output data, wherein the output data of the artificial intelligence system comprise an indicator which indicates whether ratcheting has occurred in relation to the joint, in particular the gear mechanism.
A method for the detection of ratcheting during operation of a robot in relation to at least one joint of the robot, on the basis of operating data of the robot by means of artificial intelligence, comprising the steps of:
A collaborative robot, comprising:
10-14. (canceled)
A method for training an artificial intelligence system to determine at least one of (1) the presence or absence of ratcheting of a gear mechanism of a collaborative robot having a motor and (2) a number of teeth that were skipped in the gear mechanism during ratcheting, comprising the steps of:
Dependencies are inferred from the claim text.